CN206764789U - A kind of programmable robot of automatic solution magic square - Google Patents
A kind of programmable robot of automatic solution magic square Download PDFInfo
- Publication number
- CN206764789U CN206764789U CN201720523496.XU CN201720523496U CN206764789U CN 206764789 U CN206764789 U CN 206764789U CN 201720523496 U CN201720523496 U CN 201720523496U CN 206764789 U CN206764789 U CN 206764789U
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- China
- Prior art keywords
- fixed
- manipulator
- robot
- frame
- magic square
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Abstract
The utility model discloses a kind of programmable robot of automatic solution magic square,Including robot frame and manipulator,Robot frame is divided into two cross bars and a montant,The inside of robot frame has been fixed with slide rail,Support case and scanner are slidably connected on slide rail,Equipment and the manipulator that control machine control is electrically connected with support case are fixed with above robot frame,Support case and top device all same on montant and bottom bar,Pivoted arm is fixed with above support case,The top of pivoted arm is provided with gripper bearing,The outside of pivoted arm bottom is cased with chassis retainer ring,Manipulator is fixed with above gripper bearing,The inside of manipulator is fixed with two connecting rods,Connecting rod passes through screw connection rocking bar,The end of rocking bar is flexibly connected manipulator hand and grabbed,The both sides of manipulator hand promptly magic square,The scanning and observation that this kind of utility model passes through multiple faces,Be advantageous to accelerate the speed of calculating,So as to accelerate the recovery speed of mechanical arm.
Description
Technical field
The programmable robot technical field of automatic solution magic square is the utility model is related to, specially a kind of automatic solution magic square
Programmable robot.
Background technology
At sixes and sevens can not but restore that magic square is done is very common thing, therefore many people also lose interest.
The research of robotics has promoted the development of many artificial intelligence thoughts, has some technologies can be in artificial intelligence study
In be used for establish world state model and description world state change process.Magic cube-solving robot is using robot as load
Body, solves three rank magic squares reduction problem using artificial intelligence technology.
Conventional magic square robotic view scanning is less, and the calculating in single face is it is possible that inaccurate and calculating time length
The shortcomings that, delay recovery time.
Utility model content
The purpose of this utility model is to provide a kind of programmable robot of automatic solution magic square possess instructional function, and
Fireballing advantage is restored, solves the problems, such as background technology proposition.
To achieve the above object, the utility model provides following technical scheme：
A kind of programmable robot of automatic solution magic square, including robot frame and manipulator, the robot frame
It is divided into two cross bars and a montant, the inside of the robot frame has been fixed with slide rail, has been slidably connected on the slide rail
There are support case and scanner, the equipment that control machine control is electrically connected with support case is fixed with above the robot frame
And manipulator, the support case and top device all same on montant and bottom bar, the top of the support case are consolidated
Surely pivoted arm is provided with, the top of the pivoted arm is provided with gripper bearing, and the outside of the pivoted arm bottom is cased with chassis retainer ring, described
Manipulator is fixed with above gripper bearing, the inside of the manipulator is fixed with two connecting rods, and the connecting rod passes through spiral shell
Silk connection rocking bar, the end of the rocking bar are flexibly connected manipulator hand and grabbed, the both sides of the manipulator hand promptly magic square.
Preferably, three scanning panels are fixed with below the scanner.
Preferably, the bottom of the montant of the robot frame is fixed with a three-phase socket.
Preferably, the top of the manipulator is provided with frame, and bolt is fixed with the frame, is fixed in the frame
Provided with cylinder contiguous block, the cylinder contiguous block connects mini cylinder by iron pipe, and the mini cylinder is fixed in support case.
Compared with prior art, the beneficial effects of the utility model are as follows：This kind of utility model passes through multiple scanning planes
Scanning, single Surface scan and the mistake being likely to occur calculated being avoided, accelerate recovery speed, structure is novel, and moulding is unique,
Floor space is small, easy to operation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the programmable robot of automatic solution magic square of the utility model；
Fig. 2 is a kind of robot manipulator structure schematic diagram of the programmable robot of automatic solution magic square of the utility model.
In figure：1- robot frames, 2- pivoted arms, 3- scanners, 4- support casees, 5- three-phase sockets, 6- control machines, 7- are slided
Rail, 8- chassis retainer ring, 9- bolts, 10- magic squares, 11- rocking bars, 12- connecting rods, 13- gripper bearings, the mini cylinders of 14-, 15-
Frame, 16- cylinder contiguous blocks, 17- manipulator hands are grabbed, 18- manipulators.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1-2 is referred to, the utility model provides a kind of technical scheme：A kind of programmable robot of automatic solution magic square,
Including robot frame 1 and manipulator 18, the robot frame 1 is divided into two cross bars and a montant, the robot
The inside of frame 1 has been fixed with slide rail 7, and support case 4 is slidably connected on the slide rail 7 and scanner 3, the machine are man-machine
The top of frame 1 is fixed with equipment and manipulator 18, montant and the bottom bar that the control of control machine 6 is electrically connected with support case
On the support case 4 and top device all same, the top of the support case 4 be fixed with pivoted arm 2, the pivoted arm it is upper
Side is provided with gripper bearing 13, and the outside of the bottom of pivoted arm 2 is cased with chassis retainer ring 8, and the top of gripper bearing 13 is solid
Surely manipulator 18 is provided with, the inside of the manipulator 18 is fixed with two connecting rods 12, and the top of the manipulator 18 is provided with machine
Frame 15, bolt 9 is fixed with the frame 15, cylinder contiguous block 16, the cylinder connection are fixed with the frame 15
Block 16 connects mini cylinder 14 by iron pipe, and the mini cylinder 14 is fixed in support case 4, and the connecting rod 12 is connected by screw
Connect rocking bar 11, the end of the rocking bar 11 is flexibly connected manipulator hand and grabs 17, the manipulator hand grab 17 promptly magic square 10 two
Side, the lower section of the scanner 3 are fixed with three scanning panels, and it is right that the settings of multiple scanning panels can accelerate control machine 6
The calculating that magic square 10 restores, the bottom of the montant of the robot frame 1 are fixed with a three-phase socket 5, and three sockets 5 are
Equipment provides electric power.
Operation principle：Plug is connected into three-phase socket, then magic square 10 is put on the cross bar of robot frame 1 of bottom
Manipulator hand is grabbed on 17, then the manipulator hand on montant is grabbed into 17 it is firmly grasped, and scanner 3 is to the surface sweeping of magic square 10 afterwards,
Control machine 6 is transmitted information to, control machine 6 controls pivoted arm 2 and manipulator 18 to be rotated and swung, is finally completed magic square 10
Restore, the magic square 10 of different size can be adjusted for slide rail 7.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of programmable robot of automatic solution magic square, including robot frame (1) and manipulator (18), it is characterised in that
The robot frame (1) is divided into two cross bars and a montant, and the inside of the robot frame (1) is fixed with slide rail
(7) support case (4) and scanner (3), are slidably connected on the slide rail (7), the top of the robot frame (1), which is fixed, to be set
There are the equipment and manipulator (18) that control machine (6) control is electrically connected with support case, the branch on montant and bottom bar
Case (4) and top device all same are supportted, pivoted arm (2) is fixed with above the support case (4), is set above the pivoted arm
There is a gripper bearing (13), the outside of pivoted arm (2) bottom is cased with chassis retainer ring (8), on the gripper bearing (13)
Side is fixed with manipulator (18), and the inside of the manipulator (18) is fixed with two connecting rods (12), and the connecting rod (12) is logical
Screw connection rocking bar (11) is crossed, the end of the rocking bar (11) is flexibly connected manipulator hand and grabbed (17), and the manipulator hand is grabbed
(17) both sides of magic square (10) are firmly grasped.
A kind of 2. programmable robot of automatic solution magic square according to claim 1, it is characterised in that：The scanner
(3) three scanning panels are fixed with below.
A kind of 3. programmable robot of automatic solution magic square according to claim 1, it is characterised in that：The machine is man-machine
The bottom of the montant of frame (1) is fixed with a three-phase socket (5).
A kind of 4. programmable robot of automatic solution magic square according to claim 1, it is characterised in that：The manipulator
(18) top is provided with frame (15), and bolt (9) is fixed with the frame (15), gas is fixed with the frame (15)
Cylinder contiguous block (16), the cylinder contiguous block (16) connect mini cylinder (14) by iron pipe, and the mini cylinder (14) is fixed
In support case (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720523496.XU CN206764789U (en) | 2017-05-11 | 2017-05-11 | A kind of programmable robot of automatic solution magic square |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720523496.XU CN206764789U (en) | 2017-05-11 | 2017-05-11 | A kind of programmable robot of automatic solution magic square |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764789U true CN206764789U (en) | 2017-12-19 |
Family
ID=60649946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720523496.XU Expired - Fee Related CN206764789U (en) | 2017-05-11 | 2017-05-11 | A kind of programmable robot of automatic solution magic square |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764789U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| CN108647689A (en) * | 2018-06-01 | 2018-10-12 | 中国科学院福建物质结构研究所 | Magic square restored method and its device based on GoogLeNet neural networks |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| CN111230899A (en) * | 2020-02-28 | 2020-06-05 | 东南大学 | Pneumatic magic cube robot manipulator |
-
2017
- 2017-05-11 CN CN201720523496.XU patent/CN206764789U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108159682A (en) * | 2018-02-09 | 2018-06-15 | 南月（广州）机器人科技有限公司 | A kind of automatic clearing apparatus of magic square and the magic square |
| CN108159682B (en) * | 2018-02-09 | 2024-01-09 | 南月（广州）机器人科技有限公司 | Magic cube and automatic restoration device thereof |
| CN108647689A (en) * | 2018-06-01 | 2018-10-12 | 中国科学院福建物质结构研究所 | Magic square restored method and its device based on GoogLeNet neural networks |
| CN110561455A (en) * | 2019-09-18 | 2019-12-13 | 合肥工业大学 | Magic cube robot manipulator |
| CN111230899A (en) * | 2020-02-28 | 2020-06-05 | 东南大学 | Pneumatic magic cube robot manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 |
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| CF01 | Termination of patent right due to non-payment of annual fee |